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1. JP2020135150 - VEHICLE ATTITUDE OUTPUT DEVICE, POINT CLOUD THREE-DIMENSIONING SYSTEM, VEHICLE ATTITUDE OUTPUT METHOD, POINT CLOUD THREE-DIMENSIONING METHOD, VEHICLE ATTITUDE OUTPUT PROGRAM, AND POINT CLOUD THREE-DIMENSIONING PROGRAM

Office
Japon
Numéro de la demande 2019024862
Date de la demande 14.02.2019
Numéro de publication 2020135150
Date de publication 31.08.2020
Type de publication A
CIB
G06T 7/70
GPHYSIQUE
06CALCUL; COMPTAGE
TTRAITEMENT OU GÉNÉRATION DE DONNÉES D'IMAGE, EN GÉNÉRAL
7Analyse d'image
70Détermination de la position ou de l'orientation des objets ou des caméras
G06T 7/521
GPHYSIQUE
06CALCUL; COMPTAGE
TTRAITEMENT OU GÉNÉRATION DE DONNÉES D'IMAGE, EN GÉNÉRAL
7Analyse d'image
50Récupération de la profondeur ou de la forme
521à partir de la télémétrie laser, p.ex. par interférométrie; à partir de la projection de lumière structurée
CPC
G01B 11/00
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
G01C 9/00
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
9Measuring inclination, e.g. by clinometers, by levels
G01S 17/89
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
89for mapping or imaging
G06T 7/521
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
50Depth or shape recovery
521from laser ranging, e.g. using interferometry; from the projection of structured light
G06T 7/70
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
Déposants NIPPON TELEGR & TELEPH CORP
日本電信電話株式会社
Inventeurs MATSUDA SHIGEHIRO
松田 重裕
GOTO YUKIHIRO
五藤 幸弘
HONDA RYUJI
本多 竜二
Mandataires 岡田 賢治
今下 勝博
Titre
(EN) VEHICLE ATTITUDE OUTPUT DEVICE, POINT CLOUD THREE-DIMENSIONING SYSTEM, VEHICLE ATTITUDE OUTPUT METHOD, POINT CLOUD THREE-DIMENSIONING METHOD, VEHICLE ATTITUDE OUTPUT PROGRAM, AND POINT CLOUD THREE-DIMENSIONING PROGRAM
(JA) 車両姿勢出力装置、点群3次元化システム、車両姿勢出力方法、点群3次元化方法、車両姿勢出力プログラム及び点群3次元化プログラム
Abrégé
(EN)

PROBLEM TO BE SOLVED: To increase the accuracy of three-dimensioning of an object point cloud when three-dimensioning an object point cloud by a laser or a radar, and to reduce the amount of calculation in the axial direction of three-dimensional spatial coordinates to which the object point cloud is mapped.

SOLUTION: The present disclosure calculates the absolute value of a difference between the vehicle attitude data of a high sampling frequency and the vehicle attitude data of a low sampling frequency. When the absolute value of the difference is small, the vehicle attitude data of the high sampling frequency is thinned out, the vehicle attitude data of the low sampling frequency is outputted, and the amount of calculation in the axial direction of three-dimensional spatial coordinates to which an object point cloud is mapped is reduced. Meanwhile, when the absolute value of the difference is large, the vehicle attitude data of the high sampling frequency is outputted and the accuracy of three-dimensioning of the object point cloud is heightened. Finally, the object point cloud is three-dimensioned on the basis of the vehicle attitude data and the object point cloud data.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2020,JPO&INPIT


(JA)

【課題】本開示は、レーザ又はレーダによる物体点群を3次元化するにあたり、物体点群の3次元化の精度を高くするとともに、物体点群をマッピングする3次元空間座標の軸方向の計算量を少なくすることを目的とする。
【解決手段】本開示は、高サンプリング周波数の車両姿勢のデータと、低サンプリング周波数の車両姿勢のデータと、の間の差分の絶対値を算出する。そして、差分の絶対値が小さいときは、高サンプリング周波数の車両姿勢のデータを間引き、低サンプリング周波数の車両姿勢のデータを出力し、物体点群をマッピングする3次元空間座標の軸方向の計算量を少なくする。一方で、差分の絶対値が大きいときは、高サンプリング周波数の車両姿勢のデータを出力し、物体点群の3次元化の精度を高くする。最後に、車両姿勢のデータ及び物体点群のデータに基づいて、物体点群を3次元化する。
【選択図】図1


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